CN107168314A - Buoy data message transferring device based on unmanned boat system - Google Patents
Buoy data message transferring device based on unmanned boat system Download PDFInfo
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- CN107168314A CN107168314A CN201710358514.8A CN201710358514A CN107168314A CN 107168314 A CN107168314 A CN 107168314A CN 201710358514 A CN201710358514 A CN 201710358514A CN 107168314 A CN107168314 A CN 107168314A
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- unmanned boat
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 21
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims abstract description 19
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000005055 memory storage Effects 0.000 claims abstract description 7
- 230000004888 barrier function Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 208000010877 cognitive disease Diseases 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 238000013500 data storage Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 229910019142 PO4 Inorganic materials 0.000 description 2
- 230000007717 exclusion Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- -1 Blue-green alge Chemical compound 0.000 description 1
- QGZKDVFQNNGYKY-UHFFFAOYSA-N ammonia Natural products N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 1
- XKMRRTOUMJRJIA-UHFFFAOYSA-N ammonia nh3 Chemical compound N.N XKMRRTOUMJRJIA-UHFFFAOYSA-N 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229930002868 chlorophyll a Natural products 0.000 description 1
- ATNHDLDRLWWWCB-AENOIHSZSA-M chlorophyll a Chemical compound C1([C@@H](C(=O)OC)C(=O)C2=C3C)=C2N2C3=CC(C(CC)=C3C)=[N+]4C3=CC3=C(C=C)C(C)=C5N3[Mg-2]42[N+]2=C1[C@@H](CCC(=O)OC\C=C(/C)CCC[C@H](C)CCC[C@H](C)CCCC(C)C)[C@H](C)C2=C5 ATNHDLDRLWWWCB-AENOIHSZSA-M 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 229910000069 nitrogen hydride Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- NBIIXXVUZAFLBC-UHFFFAOYSA-K phosphate Chemical compound [O-]P([O-])([O-])=O NBIIXXVUZAFLBC-UHFFFAOYSA-K 0.000 description 1
- 239000010452 phosphate Substances 0.000 description 1
- 239000010453 quartz Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of buoy data message transferring device based on unmanned boat system, the device is based on unmanned boat system；Include the industrial control host of built-in WIFI module；The photographing module that connects with outside, radar module, big dipper module；Provided with motor module to control the circuit board of propeller and steering wheel；The main frame also includes the program for performing following steps：Unmanned boat positional information is obtained by big dipper module and goal task is instructed, ship trajectory is planned, and footpath row control instruction is issued to circuit board；Gather the image information of photographing module, identification buoy；Radar module is opened, the obstacle situation to unmanned boat surrounding environment is detected；Buoy position is determined, and the control instruction that detours is issued to circuit board；WIFI module is opened, the data message of buoy memory storage is received, and stored to external memory.The present invention can be closely acquisition buoy in institute's data storage information and navigate by water return to bank base station carry out data upload, improve information gathering process efficiency.
Description
Technical field
This patent is related to a kind of data relay apparatus and method, and specific address is a kind of buoy based on unmanned boat system
Data message transferring device, more particularly to a kind of data relay device for obtaining buoyage stored information in water and side
Method.
Background technology
With flourishing for intelligent sea-farming industry, electric buoy system is gradually introduced water body detection, cultivation ring
Fields such as border monitoring, and embodied more significant application effect and application value, its by carry multiple sensors and
Video module can realize integration to local environment, integral collecting, analysis and related data information is effectively stored
With transmission.
However, in view of the offshore of buoyage position is distant, it is big using radio frequency network, WIFI network as the high speed of representative
Data radio communication network can not effectively be built, and the data message amount that satellite-signal can be carried is limited so can not expire
The continuous transmission of sufficient mass data.
For the bottleneck problem of this information transfer, solution at this stage is only periodically to be passed by satellite-signal
It is defeated on a small quantity must information, and navigation to buoy manual extraction of periodically steering a ship is stored with the data storage cards of the information such as video data.
In this method not only significantly delayed acquisition cycle of data message, more improve the cost for obtaining information so that buoy is monitored
The information gathering process efficiency of system is low, and this is the deficiencies in the prior art part.
Thus data message how efficient, that easily acquisition is stored in buoy becomes current buoyage progress sea
Urgent problem to be solved in foreign monitoring process.
The content of the invention
In view of the shortcomings of the prior art, present invention solves the technical problem that being to provide a kind of buoy based on unmanned boat system
In data message transferring device and method, the acquisition buoy that it can be closely institute's data storage information and navigate by water return to bank base
Stand, carry out data upload.
One aspect of the present invention is used to obtain the data relay device of buoy stored information in water there is provided a kind of,
It is characterized in that：The device is based on unmanned boat system；Include the industrial control host of built-in WIFI module；The high-definition camera module of outer company,
Laser radar module, big-dipper satellite module；Provided with motor module to control the circuit board of propeller and steering wheel；The main frame includes holding
The program of row following steps：
Unmanned boat positional information is obtained by big-dipper satellite module and goal task is instructed, ship trajectory is planned,
And issue footpath row control instruction to circuit board；
Gather the image information of high-definition camera module, identification buoy；
Laser radar module is opened, the obstacle situation to unmanned boat surrounding environment is detected；
Buoy position is determined, and the control instruction that detours is issued to circuit board；
WIFI module is opened, the data message of buoy memory storage is received, and stored to external memory.
Further, described program also comprises the following steps:
The rotary head that the camera of control high-definition camera module is connected, to change shooting direction；
Gather the image information of high-definition camera module, cognitive disorders thing；
Avoidance demand is designed according to the location of current flight track and barrier.
Preferably, the motor module of the circuit board includes：
STC89C52 single-chip microcomputers；
Double winding bi-pole stepper motor control chip UDN2916LB；
MAX232 serial communication chips.
Further, the device also includes：
The beacon ray light of circuit board is connected to, to point out other autonomous navigation devices effectively to be avoided.
Another aspect of the present invention is used to obtain the data relay method of buoy stored information in water there is provided a kind of,
It is characterized in that comprising the following steps：
Industrial control host obtains unmanned boat positional information by big-dipper satellite module and goal task is instructed, and ship trajectory is entered
Professional etiquette is drawn, and issues footpath row control instruction to peripheral hardware circuit board；
Gather the image information of high-definition camera module, identification buoy；
Laser radar module is opened, the obstacle situation to unmanned boat surrounding environment is detected；
Buoy position is determined, and the control instruction that detours is issued to peripheral hardware circuit board；
WIFI module is opened, the data message of buoy memory storage is received, and stored to external memory.
Further, this method also comprises the following steps:
The rotary head that the camera of control high-definition camera module is connected, to change shooting direction；
Gather the image information of high-definition camera module, cognitive disorders thing；
Avoidance demand is designed according to the location of current flight track and barrier.
Preferably, this method also comprises the following steps:
System self-test, if entering faults-tolerant control in the presence of abnormal, unmanned boat system carries out software according to self test failure report and repaiied
Just；
Such as failure is not solved, and system current state information is sent by big dipper module, is reseted course and is returned to base station.
The beneficial effects of the present invention are efficiently, easily obtain and be stored in data in buoy, what it was realized in:
Unmanned boat system determines self-position by the positioning function of Big Dipper satellite signal receiving module；Received by Big Dipper satellite signal
The informational function of module obtains the positional information of target buoy；By analyzing current self-position and target buoy position setting boat
Row track；Realize that the water hazard thing in horizon range is recognized by the camera module on ship；By before deck
The laser radar of section and rear end realizes the identification to barrier shape in short range；Pass through the position adjustment of disturbance of analysis thing
Ship trajectory；Matched by carrying WIFI routing modules with the WIFI module on a range of buoy, to obtain
The data message of buoy memory storage.
Brief description of the drawings
Fig. 1 is the structural representation for being used to obtain the data relay device of buoy stored information in water of the present invention.
Fig. 2 is the block diagram for being used to obtain the data relay device of buoy stored information in water of the present invention.
Fig. 3 is the peripheral circuit figure for being used to obtain the data relay device of buoy stored information in water of the present invention.
Fig. 4 is the program flow diagram for being used to obtain the data relay device of buoy stored information in water of the present invention.
Embodiment
The present invention is described in further detail in conjunction with drawings and examples.
It is the data message transferring device structural representation of the present invention with reference to Fig. 1, wherein A1 is buoy, and it passes through suspension cable
A10 is fixed on specific region, to the hydrographic information and environmental information in pickup area.A2 is big-dipper satellite data module, is used
The concurrent Buoying positional information of data message must be passed periodically to send.A3 is solar panel, to for buoyage
Electric energy is provided.A4 is buoy top layer turntable, and 360 are provided by rotating to be photographing module A60Shooting visual angle.A5 is LED beacon ray lights.
A7 is weather station, to test the custom of buoy local environment, wind direction, temperature.A8 is WIFI module, when it gets unmanned boat
After device routes signals, the data link with unmanned boat equipment is set up.A13 is underwater camera module turntable, and it passes through
Rotate to be underwater camera modules A 12 and provide 3600Shooting visual angle.A11 is underwater platform, and it provides support for turntable A13.A9 is
Temperature sensor module, to water temperature detection.It is fixed on suspension cable to detect not for undersea detection module by A14, A15, A16
With the hydrographic information under the depth of water, be solidified with each of which module temperature, acid-base value, dissolved oxygen, electrical conductivity, turbidity, chlorophyll a,
Blue-green alge, phosphate PO4 and ammonia nitrogen NH3 sensors.
In Fig. 1, the signified unmanned boat system B1 of the present invention, including propeller B2, it has two altogether and symmetrical is placed in rudder
Machine B4 both sides, sail is provided for unmanned boat.Steering wheel B4 changes unmanned boat course by angular deflection.Also include laser radar mould
Block B5, B10, stop to detect the obstacle around unmanned hull；WIFI routing module B6, to receive buoy WIFI module A8
Data message；Solar panels B7, energy source is provided for unmanned boat system；High-definition camera module B8, it passes through built-in head
Rotate to be unmanned boat and provide 3600Shooting visual angle, originates in this, as the signal of target identification.Big-dipper satellite module B9, to obtain
Own location information is taken, and buoy position information and the instruction of unmanned boat control task are received by satellite link；Unmanned boat beacon
Lamp B11, to point out other autonomous navigation devices effectively to be avoided.
With reference to Fig. 2, it is the buoy data message transferring device block diagram based on unmanned boat system.Wherein, institute of the present invention
Unmanned boat system is stated using industrial control host as processing data information core, its USB port and photographing module for being carried by main frame
B8 (containing rotary head), the connection of laser radar module B5, B10.WIFI module built in industry control machine equipment is used as WIFI route moulds
Block B6.Big-dipper satellite module B9, external storing apparatus B12 are carried out data transmission by industrial control host serial ports and industrial control host.Even
Propeller B2 motor control module A, connection steering wheel B4 motor control module B, beacon ray light B11 and Voltage stabilizing module is met to be solidificated in
On unified peripheral circuit.
It is the buoy data message transferring device peripheral circuit figure based on unmanned boat system with reference to Fig. 3.This patent it is total defeated
Enter voltage VIN for 12V, introduced by power interface G, G positive poles introduce termination key switch X, realize on/off.Another terminations of X
7805 (U3) pins 1.U3 pins 2 are hanging, the output 5V operating voltages of pin 3 (Vcc), pin 4 are grounded, and are connected between 1,4 pins
Electric capacity C1, C2 and electric capacity C3, C4 for being connected between 3,4 pins are noise reduction electric capacity, the terminations of resistance R1 (1.5k Ω) one Vcc (+5V electricity
Source) other end is connected with light emitting diode D1 one end, D1 other ends ground connection.
Data processing chip selected by this patent is STC89C52 single-chip microcomputers (U1), and its pin 38 connects 5V operating voltages,
Pin 16 meets GND, and quartz crystal oscillator 11.0592MHz (Y1) two pins difference U1 pin 13 (XTAL1), 14 (XTAL2) connect
Connect, electric capacity C13 (30pF), C12 (30pF) one end are connected on Y1 (XTAL1, XTAL2) respectively, other end ground connection；Electric capacity C5
(10uF) with by button S1 and resistance R4 (1k Ω) series arm constitute be connected in U1 pins 4 (RST) and+5V power supplys it
Between, resistance R3 (10k Ω) is connected between RST and GND.Resistance R2 (10k Ω) is connected between U9 pins 29 and+5V power supplys.Exclusion
RP1 is 9 pin 10k Ω exclusions, and its pin 1 meets Vcc (+5V power supplys), and pin 2 to pin 9 connects U9 pin 37 to pin 30 respectively.
Q1 is triode, and its colelctor electrode meets+12V, base stage and connects U1 pins 41.P2 is beacon ray light interface, and its pin 1 connects Q1 transmitting collection,
Pin 2 meets GND.P3 is steering wheel servomechanism installation interface, and its pin 1, which meets+12V, pin 2 and connects U1 pins 40, pin 3, connects+5V, pin
4 meet GND.
U2 is MAX232 serial communication chips, and its pin 6 meets electric capacity C9 (0.1uF) and is grounded afterwards, and pin 2 meets electric capacity C8
(0.1uF) is followed by+5V power supplys, and pin 16 connects+5V power supplys, and pin 15 connects GND, pin 4 and pin 5 indirect C10 (0.1uF),
The indirect C11 (0.1uF) of pin 1 and pin 3, pin 12 (RX) connects U1 pins 5, and pin 11 (TX) connects the needle interface of U1 pins 7,4
P1 is serial communication line end, and its pin 1 connects+5V power supplys, and pin 2 meets GND, and pin 3 is connected with U2 pins 14, and pin 4 and U2 is managed
Pin 13 is connected.The data communication between external circuitry plate and industrial computer is realized in P1 and industrial computer connection.
U4 is double winding bi-pole stepper motor control chip UDN2916LB, and its associated circuit is to control unmanned boat spiral
Propulsion plant motor.U4 pins 11 (PH1) are connected with U1 pins 3, pin 3 (PH2) is connected with U1 pins 2, pin 13 (I01) with
U1 pins 1 are connected, pin 12 (I11) is connected with U1 pins 44, pin 1 (I02) is connected with U1 pins 43, pin 2 (I12) and U1
Pin 42 is connected, and U1 is turned to by the rotating speed of above-mentioned port controlling propeller motor.U4 pins 4, pin 6, pin 7, pin 10,
Pin 18, pin 19 meet GND, and pin 8 meets Vcc (+5V power supplys), and pin 24 meets Vin (+12V power supplys).Resistance R9 (56k Ω) with
Electric capacity C16 (470pF) parallel connection is connected between U4 pins 9 and Vcc (+5V power supplys), resistance R10 (56k Ω) and electric capacity C17
(470pF) parallel connection is connected between U4 pins 5 and Vcc (+5V power supplys), resistance R6 (1k Ω) two ends respectively with U4 pins 21, pipe
Pin 22 is connected, and resistance R5 (1.43 Ω) is in parallel with electric capacity C14 (4700pF) to be connected between U4 pins 22 and GND, resistance R8 (1k
Ω) two ends are connected with U4 pins 15, pin 16 respectively, and resistance R7 (1.43 Ω) is in parallel with electric capacity C15 (4700pF) to be connected to U4
Between pin 15 and GND.4 needle interface P4 pins 1 to pin 4 is connected with U4 pins 17, pin 14, pin 20, pin 23 respectively.
P4 pins 1, pin 2 connect left screw motor coil two ends respectively, and P1 pins 3, pin 4 connect left screw motor lines respectively
Enclose two ends.
With reference to buoy data message transferring device program flow diagrams of the Fig. 4 based on unmanned boat system, its industrial computer embeds journey
Sort run step is as follows：
Step 1, initialize, after the completion of enter step 2；
Step 2, System self-test, if existing abnormal into step 3, entrance step 6 without exception；
Step 3, faults-tolerant control, unmanned boat system according to self test failure report carry out software correction, after the completion of enter step
4；
Step 4, judge, if failure solve if enter step 6, it is unresolved then enter step 5；
Step 5, unmanned boat system sends system by big dipper module and sends current state information, and resets course return base
Stand；
Step 6, unmanned boat system by big dipper module obtain current location information, after the completion of enter step 7；
Step 7, unmanned boat system obtains new goal task by big dipper module and instructed, and step is entered if new task is obtained
Rapid 8, step 9 is entered if not obtaining；
Step 8, the more geographical coordinate of fresh target buoy, after the completion of enter step 9；
Step 9, unmanned boat system according to residing for current position coordinates, the buoy got orientation and it is expected that navigation circuit on
Barrier situation unmanned shipping agency track is planned, after the completion of enter step 10；
Step 10, by serial ports, outwardly control instruction is navigated by water in circuit board issue to industrial computer system, to carry out unmanned boat
Heading control, after the completion of enter step 11；
Step 11, judge, whether unmanned boat arrives at marine site where buoy, step 12 is entered if having arrived at, is not arrived at such as
Then enter step 20；
Step 12, industrial computer opens the laser radar module being located on front side of deck in ship structure with rear side by USB interface, to nothing
The obstacle situation of people's boat system surrounding environment is detected, after the completion of enter step 13；
Step 13, industrial computer is acquired and recognized to camera image information by USB interface, determines buoy position,
After the completion of enter step 14；
Step 14, industrial computer opens WIFI module, and obtains buoy WIFI signal, after the completion of enter step 15；
Step 15, industrial computer by serial ports outwardly circuit board issue navigation control instruction, its ship trajectory using buoy as
The center of circle, carries out circular cruise and detours, enter step 16 after instruction issue；
Step 16, industrial computer by WIFI module receive buoy memory storage data message, after the completion of enter step 17；
Step 17, the buoy institute outgoi8ng data information of acquisition is stored to B12 external storages and filled by industrial computer by USB interface
Put, after the completion of enter step 18；
Step 18, industrial computer by big-dipper satellite module issue to base station issue report, after the completion of enter step 19；
Step 19, judge, whether unmanned boat system obtains new assignment instructions, return to step 5 if not obtaining, if obtaining
New command then return to step 8；
Step 20, industrial computer is acquired by USB interface to camera image information, after the completion of enter step 21,；
Step 21, judge, step 22 is entered if it there is barrier residing for camera in visual angle, walked if entering in the absence of if
Rapid 23；
Step 22, industrial computer according to the location of current flight track and barrier design avoidance demand, after the completion of return
Return step 2；
Step 23, industrial computer is controlled by USB interface to rotary head involved by camera, changes shooting direction, complete
Into rear return to step 10.
Described above is only presently preferred embodiments of the present invention, not does any formal limitation to the present invention, though
So the present invention is disclosed as above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, in the range of technical solution of the present invention is not departed from, when the technology contents using the disclosure above make a little change or repair
The equivalent embodiment for equivalent variations is adornd, as long as being the content without departing from technical solution of the present invention, the technology according to the present invention is real
Any simple modification, equivalent variations and modification that confrontation above example is made, still fall within the scope of technical solution of the present invention
It is interior.
Claims (7)
1. a kind of data relay device for being used to obtain buoy stored information in water, it is characterized in that：The device is based on unmanned boat
System；Include the industrial control host of built-in WIFI module；High-definition camera module, laser radar module, the big-dipper satellite module of outer company；
Provided with motor module to control the circuit board of propeller and steering wheel；The industrial control host includes the program for performing following steps：
Unmanned boat positional information and assignment instructions are obtained by big-dipper satellite module, professional etiquette is entered to ship trajectory using buoy as target
Draw, and footpath row control instruction is issued to circuit board；
Gather the image information of high-definition camera module, identification buoy；
Laser radar module is opened, the obstacle situation to unmanned boat surrounding environment is detected；
Buoy position is determined, and the control instruction that detours is issued to circuit board；
WIFI module is opened, the data message of buoy memory storage is received, and stored to external memory.
2. the data relay device as claimed in claim 1 for being used to obtain buoy stored information in water, it is characterized in that：It is described
Program also comprises the following steps:
The rotary head that the camera of control high-definition camera module is connected, to change shooting direction；
Gather the image information of high-definition camera module, cognitive disorders thing；
Avoidance demand is designed according to the location of current flight track and barrier.
3. the data relay device as claimed in claim 1 for being used to obtain buoy stored information in water, it is characterized in that described
The motor module of circuit board includes：
STC89C52 single-chip microcomputers；
Double winding bi-pole stepper motor control chip UDN2916LB；
MAX232 serial communication chips.
4. the data relay device as claimed in claim 1 for being used to obtain buoy stored information in water, it is characterized in that also wrapping
Include：
The beacon ray light of circuit board is connected to, to point out other autonomous navigation devices effectively to be avoided.
5. a kind of data relay method for being used to obtain buoy stored information in water, it is characterized in that comprising the following steps：
Industrial control host obtains unmanned boat positional information by big-dipper satellite module and goal task is instructed, and professional etiquette is entered to ship trajectory
Draw, and footpath row control instruction is issued to peripheral hardware circuit board；
Gather the image information of high-definition camera module, identification buoy；
Laser radar module is opened, the obstacle situation to unmanned boat surrounding environment is detected；
Buoy position is determined, and the control instruction that detours is issued to peripheral hardware circuit board；
WIFI module is opened, the data message of buoy memory storage is received, and stored to external memory.
6. the data relay method as claimed in claim 5 for being used to obtain buoy stored information in water, it is characterized in that also wrapping
Include following steps:
The rotary head that the camera of control high-definition camera module is connected, to change shooting direction；
Gather the image information of high-definition camera module, cognitive disorders thing；
Avoidance demand is designed according to the location of current flight track and barrier.
7. the data relay method as claimed in claim 5 for being used to obtain buoy stored information in water, it is characterized in that also wrapping
Include following steps:
System self-test, if entering faults-tolerant control in the presence of abnormal, unmanned boat system carries out software correction according to self test failure report；
Such as failure is not solved, and system current state information is sent by big dipper module, is reseted course and is returned to base station.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710358514.8A CN107168314B (en) | 2017-05-19 | 2017-05-19 | Buoy data information transfer device based on unmanned ship system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710358514.8A CN107168314B (en) | 2017-05-19 | 2017-05-19 | Buoy data information transfer device based on unmanned ship system |
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| Publication Number | Publication Date |
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| CN107168314A true CN107168314A (en) | 2017-09-15 |
| CN107168314B CN107168314B (en) | 2020-08-14 |
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| CN201710358514.8A Expired - Fee Related CN107168314B (en) | 2017-05-19 | 2017-05-19 | Buoy data information transfer device based on unmanned ship system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107990880A (en) * | 2017-11-30 | 2018-05-04 | 上海海洋大学 | Marine ecology monitering buoy device |
| CN108153317A (en) * | 2018-01-22 | 2018-06-12 | 五邑大学 | A kind of automatic cruising canoe with barrier avoiding function |
| CN108583920A (en) * | 2018-04-24 | 2018-09-28 | 上海海洋大学 | A kind of control method of unmanned plane marine landing platform and UAV Landing |
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| CN108583920A (en) * | 2018-04-24 | 2018-09-28 | 上海海洋大学 | A kind of control method of unmanned plane marine landing platform and UAV Landing |
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| CN109358495A (en) * | 2018-12-05 | 2019-02-19 | 山东智翼航空科技有限公司 | Unmanned ship propeller pitch-rotating speed differential stabilization and stabilization system and method |
| CN109358495B (en) * | 2018-12-05 | 2024-01-30 | 山东智翼航空科技有限公司 | Unmanned ship pitch-rotating speed differential stabilization and stabilization system and method |
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| CN109814139A (en) * | 2019-01-24 | 2019-05-28 | 上海孚实船舶科技有限公司 | A kind of fixed route unmanned boat operational method |
| CN109714728B (en) * | 2019-01-24 | 2022-06-03 | 上海孚实船舶科技有限公司 | Integrative target monitoring system in sky sea |
| CN109601436A (en) * | 2019-01-24 | 2019-04-12 | 上海孚实船舶科技有限公司 | A kind of deep-sea breeding method based on environmental monitoring |
| CN112364678A (en) * | 2019-09-30 | 2021-02-12 | 山东省科学院海洋仪器仪表研究所 | Buoy identification and positioning method based on NPU board card and shipborne device thereof |
| CN112364678B (en) * | 2019-09-30 | 2023-04-07 | 山东省科学院海洋仪器仪表研究所 | Buoy identification and positioning method based on NPU board card and shipborne device thereof |
| CN111840962A (en) * | 2020-07-09 | 2020-10-30 | 南京风之曲科技文化有限公司 | iBoat sailing competition training timing and scoring system |
| CN111880192A (en) * | 2020-07-31 | 2020-11-03 | 湖南国天电子科技有限公司 | Ocean monitoring buoy device and system based on water surface and underwater target early warning |
| CN114435550A (en) * | 2022-03-28 | 2022-05-06 | 南通市融信信息科技有限公司 | Underwater measurement system of unmanned ship |
| CN116588253A (en) * | 2023-07-17 | 2023-08-15 | 山东省科学院海洋仪器仪表研究所 | Deep sea buoy observation system and control method thereof |
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